问题描述:

在 Ubuntu22.04 + Orin Arm 中构建 tensorrt_common 时，出现未找到 TENSORRT_NVPARSERS_LIBRARY 变量错误。

环境：

• 主板：Jetson AGX Orin 32G 开发套件
• 操作系统：Ubuntu 22.04
• CUDA：12.6
• CuDNN：9.3.0.75-1+cuda12.6
• TensorRT：10.3.0.30-1+cuda12.5
• autoware：last commit

复现方法：

Summary: 333 packages finished
1 package failed: autoware_tensorrt_common
13 packages not processed

$ colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release  --packages-select=autoware_tensorrt_common
Starting >>> autoware_tensorrt_common
--- stderr: autoware_tensorrt_common                         
CMake Error: The following variables are used in this project, but they are set to NOTFOUND.
Please set them or make sure they are set and tested correctly in the CMake files:
TENSORRT_NVPARSERS_LIBRARY
    linked by target "autoware_tensorrt_common" in directory /home/work/autoware/src/universe/autoware.universe/perception/autoware_tensorrt_common

CMake Generate step failed.  Build files cannot be regenerated correctly.
---
Failed   <<< autoware_tensorrt_common [0.97s, exited with code 1]
                                
Summary: 0 packages finished [3.82s]
  1 package failed: autoware_tensorrt_common
  1 package had stderr output: autoware_tensorrt_common

可能原因:

1. autoware 需要 libnvparsers，但是 TensorRT 9.x + 版本之后 libnvparsers 库被删除https://docs.nvidia.com/deeplearning/tensorrt/archives/tensorrt-901/release-notes/index.html
   
2. TensorRT 6.8.1 仅支持 x86 ubuntu22，不支持 ARM ubuntu22（支持 arm ubuntu20）。https ://developer.nvidia.com/nvidia-tensorrt-8x-download

$ dpkg -l | grep -i libnvinfer-dev
    ii  libnvinfer-dev                                    10.3.0.30-1+cuda12.5                        arm64        TensorRT development libraries
    ii  python3-libnvinfer-dev                            10.3.0.30-1+cuda12.5                        arm64        Python 3 development package for TensorRT standard runtime

$ dpkg -l | grep -i libnvparsers-dev

$ sudo apt install libnvparsers-dev
    E: Unable to locate package libnvparsers-dev

Check Nvidia docs:

libnvparsers is removed when 9.0.1, last version of has libnvparsers is 8.6.1

# tensorrt 9.0.1
# https://docs.nvidia.com/deeplearning/tensorrt/archives/tensorrt-901/release-notes/index.html

With removal of ICaffeParser and IUffParsers, 
the libnvparsers library is removed.

# tensorrt 8.6.1
# https://docs.nvidia.com/deeplearning/tensorrt/archives/tensorrt-861/install-guide/index.html#installing-debian
sudo apt install libnvparsers-dev

# tensorrt 8.6.1 not support arm ubuntu22, only support x86 ubuntu20
# https://developer.nvidia.com/nvidia-tensorrt-8x-download

解决方法:

使用JetPack 6.0刷写Orin。

• JetPack 6.0基于Ubuntu 22.04、CUDA 12.2、CuDNN 8.9、Tensorrt 8.6，满足Autoware的工作条件。
• JetPack 6.1基于Ubuntu 22.04、CUDA 12.6、CuDNN 9.3、Tensorrt 10.3，Autoware目前暂不支持，相关支持工作正在开发中，需要些时间。

Ubuntu22.04 + Arm Build Error: TENSORRT_NVPARSERS_LIBRARY variables are used in this project, but they are set to NOTFOUND